JPH01311997A - Fixed position holding and controlling device for airship - Google Patents

Abstract

PURPOSE:To quickly hold an airship in a fixed position by calculating the power and the moment required for returning and holding the airship in the fixed position based on the results of a comparison of an actual position and angles of the airship with their set values, and putting out optimally proportioned drive command signals for a plural number of thruster driving means in accordance with the calculated values. CONSTITUTION:The position and angles of an airship equipped with a plural number of operating thruster 16 are detected by a detecting means 11. The position and angles of the airship thus detected are compared with the position and angles of the airship set in advance by a setting means 12. Based on the results of the comparison, the power and the moment required for returning and holding the airship in a fixed position are calculated with a calculating means 13. Based on the calculated values, optimally proportioned drive command signals are put out to a plural number of thruster driving means 15 for driving a plural number of thruster 16, through a proportioning means 14. The airship is always held in a fixed position by driving the group of thruster 16 through these signals.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a position control device for returning and holding an airship to a position.

[Conventional technology]

The airship is equipped with a thruster using Gloira as a means of propulsion. That is, as shown in FIG.
A thruster 2 and a thruster driving means 3 are attached to the lower part of the airship, the thruster 2 is driven by the thruster driving means 3, and the motion of the airship 1 is controlled by the thrust obtained by driving the thruster 2.

And many airships are equipped with multiple thrusters.

[Problem to be solved by the invention]

Therefore, in many cases, airships are required not only to be propelled, but also to remain stationary in a fixed position. For this reason, when an airship is stationary at a fixed position, even if it is blown away by the wind, it quickly and accurately returns to the fixed point, and always remains stationary at the fixed point. This is necessary.

However, conventional airships are not equipped with a sufficient position control device to return and hold the airship in a fixed position. It is difficult to drive the thrusters efficiently when the airship is out of position, and it is difficult to quickly and accurately return and hold an airship that has deviated from its normal position.The present invention was made based on the above-mentioned circumstances. It is an object of the present invention to provide a fixed position control device for an airship, which can efficiently drive a thruster so as to always hold the airship in a fixed position, and has an excellent fixed position holding function.

[Means to solve the problem]

In order to achieve the above object, the airship fixed position control device according to the present invention includes means 11 for detecting the position and angle of the airship, as shown in FIG. 1, in an airship equipped with a plurality of operational thrusters; means 12 for setting the position and angle of the airship;

Means for comparing the detected position and angle of the airship with a preset position and angle of the airship, and calculating the force and moment necessary to return and hold the airship in its normal position based on the comparison result. 13, and means 14 for receiving a signal from this means 13 and outputting a drive command signal optimally distributed to a plurality of thruster drive means 15 in order to drive a plurality of thrusters 16. It is something.

An explanation will be added regarding the configuration of the fixed position holding control device of the present invention. Specifically, this control device controls the airship's position coordinates (x
, y, z), and a fixed position coordinate setting value (X, , Yp) that you want to maintain.

Z, ) e A fixed position setter that outputs a position signal (x, y, z) from the above position detector, and a fixed position setting value signal (X, , Y, , Z,) from the above fixed position setter. Deviation from (ΔX,
ΔY, Δ2), an angle detector that detects the angle of the airship (pitch angle θ, roll angle φ, yaw angle ψ), and angle signal setting values (θ1.φp, ψ) that set the angle.
, ), and an angle signal (θ, φ.) from the angle detector.

ψ) and the angle setting value signal (θp) from the angle signal setting device above.
It is equipped with an adder/subtractor that calculates the deviation (Δθ, Δφ, Δψ) from the above (Iφp, ψp), and further includes an adder/subtractor that calculates the deviation (Δθ, Δφ, Δψ) from Necessary force (Forc.

It is equipped with a control wave calculator that performs all calculations for command) and moment (Moment command).

Here, the Force command (Fxc
There are various possible calculation methods for p Fyc * Fzc ) and the Moment command (M(*Nc + Rc), but an example is the calculation algorithm described below.

Δx=x−xp (1)
ΔY=Y−Y, ...(
2) Δz=z−z, ・・
・(3) FXC=KzpJX+KzpΔX+KxtfΔ
Xαt ・(4)F'yc =KYDΔ;+KYP
ΔY+KyfJΔYαt ・(5) FZC=KZD
ΔZ+KzpΔZ+Kz! fΔ2αt −(6)・
Two differentials (Kxn * Kyo + Kzo): Micromolecule in (K
xp * Kyp + Kzp ): Proportional gain (K
XX+KYI+KZI): Integral gain Δψ=
ψ−ψP ... (7) Δθ
=θ−θp=−(8)
Δφ=φ−φP Mountain (9) NC
”KNDΔδ10KN, Δθ10KN θαt − RC
”KRDΔδ+KR, Δφ+KR φαt...(
6)・: Differential (KMDIKND#KRD) "Differential gain (KMpsKNp, Kap): Proportional gain (KM
r+KNXpKRt) : Integral gain Furthermore, in response to the output from the control calculator, a drive command signal is sent to the thruster drive means of the plurality of thrusters. &Equipped with a thruster control command optimum distributor that determines the thrust distribution of each thruster in order to perform fixed position holding control with small power (energy).

The distribution algorithm of this thruster control command optimal distributor uses the Force command (FxctFy(, FZC ),
For the Moment command (Mc p NO, RC), it is derived as an optimization problem that minimizes the total thrust power from multiple thrusters. That is, the evaluation function is: l: 1st thruster n number of thrusters,
Solve the problem of minimizing J.

Here Fi=)'xt +FyI+Fzl
-・- The maximum thruster capacity thruster thrust of the Q4Fml Ni thruster l must satisfy the following equation. (
Constraint conditions] Force equality condition ``g, FXI F'xc '''
0 ””αUΣFzlFzc = O...0
-n i=1 Moment equality condition: However, s FXi + Fyi + Fzl is 0≦by F≦
Fml...(c)O≦
FYi≦Fml ... (I) 0≦Fzi≦Fml”
l'1 Here F'XC+ FYl +Fzl≦Fml
'... (c) (txi, tyi + tzl): Position coordinates from the airship's center of gravity G to the thrust pH In order to solve the above optimal problem, the inequality condition in equation (c) ~) above is changed to the following equality condition. replace.

Fxl+xzl-Fmi ”・(
C) FYl+xYi-Fml ・
++ HFZi+xZl-Fml
-fi th (c) ~ (goods) formula shiFXi=Fmi XXI ゛”A
FYI-Fml-"Yl"'
翰FZi=Fmi Xzl °−
By substituting the fi-th to (g) expressions into the fi-th to... expressions, hl (1-1 to 6) is defined as follows.

hl-far CFm1-Xxl)-Fxc
... 6 Desired 1=1 A new evaluation function is set as follows using λ1 (t-t~6) as a Lagranche multiplier.

J'palm J+Σλth...(
) 1=1 The necessary condition to minimize J′ is 5 aXZl(i=1.2.-, N) −〇””])aJ'
1 a..."F, correction (Fml xzl)-'1+λ4"
Yi-λ5tzl-O...-δJ' 1 =-(Fml-xyl)-λ2-λ4tXl+λ6t
zi=0 −eLlaxYIFml −4−′ (Fzl−Xzl)−λ3+λ5”Xi−λ
6'7i=0...■δXzi Fml Substitute equations (c) to (sub) to the above equations (6) to envoy.

FXl wealth (-λ1+λ4tyl-λstzt)Fmt
""FYl-(-λ2-
λ4tXi+λ6tzt)Fmt
-HFzl=(-λ3+λ5tX i-λ6tyt)
F'mt °X Therefore, the Lagranche multiplier λ1 (1-1 to 6) is
It is obtained by solving the following simultaneous equations, which are obtained by substituting into the equation conditions of ~(1).

−ΣFmlλ1+ΣtYiFmlλjiΣtZiFmiλ
s-F'xc ・144i=1 1=
1 1=1−ΣFn+jλ5+ΣtXi
Fmlλ5−ΣtYiFmlλ6”FzC−(ni=1
i=1 1=1 + (ΣtyitztFmt)λ5+(ΣtzltxlF
ml>λ6=Mc...t51)! =1 1
=1 - (1: (tz'1+tx"t)Fm1)λ5+(Σ
txttytF'mt)λ6=Nc°IDJl=1
l=1 ”22 + (Σ7−xttytFmi)λ5−(Σ(ty i+
4c) Fm i )λ6=Rc゛M1=1
1=1 The Lagrange multiplier λ1O=1 to 6) can be found by solving the decoy to decoy equation. The solution method is to express the first to Q equations in matrix form and solve the six matrix and Kuss equations.

A λ = B... (Goods)... FXi IFY, IFzl that minimizes the auxiliary evaluation function is obtained by formulas 541-57) and formulas (g) to αη.

That is, the X required to hold the position in place.

Force command F to obtain total thrust in the y and z axis directions
r0. FYc, F1a and Mom@nt commands M, I
No. and Rc, solve the matrices of formulas 54) to 6η to determine the Raglan S) multiplier λ1 (t-1 to 6), and calculate the thrust force distribution of each thruster from - to αη. That is, the thrust distribution of each thruster is FxI = (-λ1 + λ4tYl - λ5tzl) Fyy1
4Fyl=(−λ2−λ4tXi+λbtz t )
Fm tFz t-(-λ5+λ5tXi-λdLYl
)Fml (1=1~n) 1: lith thruster, nth thruster number (F) (1,
pY, , Fzl): Aircraft coordinate system (x * Y + Z
) Upper T: X direction of each thruster, X direction.

Thruster force distribution value in two directions In this way, the thruster control command signal optimal distributor calculates the amount of control required to return to the home position with the minimum power (energy) within the maximum capacity of each thruster. The optimum thruster thrust distribution to each thruster is determined, a control command signal is generated for each thruster, and this thruster control command signal is output to each thruster driving means.

[For production]

With such a configuration, in the control computing unit.

Control required to maintain the airship in a fixed position by correcting positional and angular deviations for deviations between the position set value and detected position value, as well as between the angle set value and the angle detector. Then, the command signal optimal distributor calculates the control t calculated by the control calculator, and calculates the control value of the multiple thrusters in order to achieve the control t calculated by the control calculator with the minimum power (energy) of the multiple thrusters and within the maximum capacity of each thruster. A command signal defining the distribution of thrust force and its direction is outputted to drive each thruster drive means, and the movement of the thrusters is controlled so as to hold the airship in a fixed position.

〔Example〕

Embodiments of the present invention illustrated in the drawings will be described below.

First, the system configuration of the fixed position holding control device of the present invention will be explained with reference to FIG.

2 position detectors that detect the airship's position coordinates (x, y, z) and fixed point position coordinate settings that you want to maintain (X, , Y, ,
Z, Zp)
an adder/subtractor 23 that calculates the deviation (ΔX9ΔY, Δ2) from the
and the angle of the airship (pitch angle θ, zero angle φ, yaw angle ψ
), an angle signal setter 25 that outputs the angle signal setting value (θ1.φ1.ψ,) for setting the angle, and an angle signal setting device 25 that outputs the angle signal setting value (θ, φ, ) from the angle detector 24.
, ψ) and the angle setting value signal (θ1.su, ψ,) from the angle signal setter 25 (Δθ, Δφ, Δψ). Then, the proportional calculator 27, the integral calculator 28. The differential calculator 29 generates an F'orco command (Fxc+Fyc+F'zc) necessary for returning to and maintaining the normal position. This F'
For example, the above-mentioned calculation method is used to create the orco command. Further, in response to the angular deviation signal, the proportional calculator 30. Integral calculator 3, differential calculator 32, M
Create an onon t command 7 (M(eN(*Rc)). To create this Moment command, for example, the above-mentioned calculation method is used.

Upon receiving the above Fores command e Mom@nt command, the thruster control command distributor 23 sends a plurality of commands (n
of the thrusters 16 to the thruster drive means 15.
Determine the thruster thrust distribution that can maintain a fixed position using the mother power (energy). The calculation in this case uses, for example, the method described above. In response to the signal determining the thrust distribution to each thruster as determined above, the thruster 16 is driven by the thruster driving means 5 to return and maintain the airship in its home position.

Next, an example in which the fixed position control device of the present invention is applied to fixed position maintenance control of an airship will be explained with reference to factors 3 to 5.

Figure 3 shows an example of an airship.
It is equipped with 2C. Airship J's body axes are x, y, and! It is. In this example, consider a thruster rotating around the y-axis.

Figure 4 shows a state 2 in which the airship J moves from a state J in which it is stationary at an initial fixed position P to a state 2 in which it is swept away by a head-on wind from above.
This shows the changes in

FIGS. 5(a) to 5(1) are diagrams showing an example of how the fixed position control device controls the movement of the airship J in response to such changes in the state of the airship 1. In other words, in Figure 5, airship J is facing a headwind (30 degrees above).

This figure shows that when the lid is exposed to a wind velocity of 10rr4/5ec, the positioning lid can be returned and held by using the positioning control device of the present invention. Airship J was initially set at a fixed point (
Assume that it is stationary at x, z) = (o, o). The fixed point setting was set to (0,0), and the pitch angle setting was set to -30° so that the airship J returned and maintained the same wind direction. In this example, since the wind is blowing head-on, Y while airship J is sailing.
The coordinates always maintain the fixed position coordinates. For example, Y-0. Further, since the angle is set at -30°, the airship 1 faces the direction of the wind and maintains a fixed position. Figure 5 (hH
As is clear from the X and Y coordinates shown in i), the airship J can be returned to the set position and held at the set angle even if it continues to receive strong winds with a wind speed of 10 m/sec.

In this way, even if the airship is blown away by the influence of wind, etc., the device of the present invention can return the airship to its normal position and continue to hold it.

〔Effect of the invention〕

As explained above, according to the airship fixed position maintenance control device of the present invention, the Fores * Moment command necessary for holding the airship in a fixed position at a predetermined angle can be executed with a minimum of 9 watts (energy). And the thruster thrust can be distributed to multiple thrusters within the capacity of the thruster, so the thruster can be efficiently driven and the movement of the airship can be quickly and precisely controlled to return and hold the airship to a fixed position. It has an excellent position holding function.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing a system configuration of a fixed position holding control device of the present invention, Fig. 2 is a block diagram showing an embodiment of the fixed position holding control device of the present invention, and Figs. Figure 3 shows a perspective view of the airship, and Figure 4 (,) shows the airship in its home position and at a position away from the home position. Figure 4(b) is a front view showing the airship, Figure 4(b) is a side view showing the airship in a fixed position, Figure 5 is a diagram showing how to control the operation of the airship, and Figure 6 is a front view showing the body of the airship. It is. J...airship, 2.2~2C...thruster, 3.
... Thruster drive means, No. 1... Detection means, No. 2...
- Setting means, No. 3: Control calculation means, 14: Thruster command optimum distribution means. Applicant's agent Patent attorney Takehiko Suzue Total number 1 Figure 2 Figure 3

Claims (1)

[Claims] In an airship equipped with a plurality of thrusters for operation, means for detecting the position and angle of the airship, means for setting the position and angle of the airship, and presetting of the detected position and angle of the airship. means for comparing the position and angle of the airship with the position and angle of the airship, and calculating the force and moment necessary to return and hold the airship in its normal position based on the comparison result; 1. A fixed position maintenance control device for an airship, comprising means for outputting drive command signals optimally distributed to a plurality of thruster drive means for driving a plurality of thrusters.